KR101939164B1 - System for detecting rail temperature using autonomous driving vehicle, and detecting method for the same - Google Patents

Abstract

A system for detecting a rail temperature using an autonomous driving vehicle and a method for the same, which is able to continuously measure a rail temperature by a location in a state to install the autonomous driving vehicle equipped with a rail temperature detector on the rail, manage the rail by predicting the rail temperature not to measure the rail temperature in real time as managing a rail temperature data according to a program continuously managing the rail temperature data by the location, and be simply manipulated through the autonomous driving vehicle and an application by a rail inspector, is provided.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rail temperature measurement system and a rail temperature measurement system using autonomous rolling stock,

More particularly, the present invention relates to a rail temperature measurement system, in which an autonomous traveling carriage on which a rail temperature sensor is mounted is mounted on one rail and the temperature of the other rail facing the autonomous traveling carriage autonomously runs along one rail, The present invention relates to a rail temperature measurement system using an autonomous traveling carriage and a method thereof.

Generally, most railway rails are subject to seasonal changes such as swelling in hot summer due to natural phenomena, and severe shrinkage in cold winter. The temperature that causes the deformation of the railway rail is one of the factors that affect the safety of the train.

For example, in Korea, railway rails are currently used. These pole rails reduce the number of joints between the rails by reducing the number of joints between the rails with a length of about 200m or more, which greatly alleviates the impact generated at the joints of the rails, thereby contributing to improvement of the road condition, reduction of the yield, noise and vibration. However, due to the absence of joints, the free space is lost, and buckling occurs when the rails expand as summer temperature increases.

In the case of buckling of such a rail, it is affected not only by temperature but also by transverse drag force. Here, the lateral resistance force is a resistance force when the movement of a sleeper lying between railways is perpendicular to the track. In particular, it can be assumed that deformation occurs at about 60 ° C. Therefore, it can be predicted that the probability of buckling will increase sharply when the ambient temperature exceeds 35 ° C in the case of a long rail.

On the other hand, a device for measuring the rail temperature has a contact type and a direct measurement type. The contact type is made like a panel, the temperature sensor is attached to the lower end of the rail, the temperature is measured, and the measured temperature information is transmitted to the driving command (or the control center). In addition, the direct measurement method is directly measured in the field using a portable infrared ray thermometer. That is, to measure the temperature of the rail, the measurer carries the temperature sensor to the rail installation site, measures the temperature of the rail while the train travels, and reports the result of the measurement verbally to the driving command. At this time, the operation command unit estimates the temperature distribution and deformation of the rail based on the reported temperature data, and generates an alarm.

On the other hand, as a prior art, Korean Patent No. 10-174771 discloses an invention named "rail temperature detection device ", which will be described with reference to Fig.

FIG. 1 is a view for explaining a conventional rail temperature detecting apparatus. FIG. 1 (a) is a configuration diagram of a rail temperature detecting apparatus. FIG. 1 (b) As shown in Fig.

1, a conventional rail temperature detecting apparatus includes a GPS receiver 17, an autonomous navigation apparatus 16, an infrared image temperature sensor 15, a processor 18, a train radio 19 Is mounted on the train 12 and a control console 20 is installed in the operation command unit 13 and is composed of a GPS satellite 14 launched in the sky.

The position sensing the temperature of the rail 11 is detected by the communication between the GPS satellite 14 and the GPS receiver 17 and the autonomous navigation apparatus 16 and the infrared image temperature sensor 15 detects the position of the rail 11, And outputs the positional information synchronized with the infrared image information in the processor 18 together with the infrared image information and the alarm information and wirelessly transmits the infrared image information and the alarm information to the drive command unit 13 or the like. The received information is displayed in real time by the control console 20 provided in the operation command unit 13 or the like, as shown in Fig. 1 (b).

In the rail temperature detection apparatus according to the related art, the infrared image temperature sensor 15 is mounted on a train running on a rail to non-contactly detect the rail, and the processor 18 synchronizes the infrared image information with each infrared image information And the control console 20 can display the temperature distribution of the rail in real time.

However, since the rail temperature detecting apparatus according to the related art measures the temperature information of the rail and the measured position information in a non-contact manner on the rail in real time on a running train, it is difficult to measure the minute temperature change of the rail, If danger information is detected in the section, there is insufficient response in the train engine room for the danger information, and there is a risk of train derailment in case of danger. In addition, there is a problem that the operation of the equipment installed in the engine room must be checked during the operation of the train due to various equipments mounted on the train, thereby hindering the safe operation of the train.

As another prior art, Korean Utility Model No. 2007-974 discloses a design called " rail temperature radio measurement device ", which will be described with reference to FIG.

2 is a view showing a conventional rail temperature radio measurement apparatus.

2, the rail temperature radio measurement apparatus according to the related art is fixed to the upper side surface of the rail at the position to be measured by the temperature detection sensor 31, and the transmitter controller 32 sets the detected temperature value The temperature of the rail is measured, managed, recorded, and stored in real time, and the temperature of the real time temperature is stored in the monitor of the computer 34 The value can be displayed.

According to the rail temperature radio measurement apparatus according to the related art, it is possible to easily maintain and repair the rail by managing the accurate rail temperature by real-time measuring the rail temperature at a position to be measured at a remote place without going directly to the railway.

However, in the case of the rail temperature radio measurement apparatus according to the related art, since the temperature is measured while the temperature detection sensor 31 is fixed to the rail, only the rail temperature at a specific position can be limitedly detected.

On the other hand, as another prior art, Korean Patent No. 10-818121 discloses an invention named "rail temperature detection device ", which will be described with reference to Fig.

Fig. 3 is a view for explaining a clamp-contact type rail temperature detecting device according to the related art. Fig. 3 (a) is a configuration diagram showing a rail temperature detecting device, and Fig. 3 (b) to be.

3, a temperature detector 50, a field control panel 60, an associated signaling machine room 70, and an integrated train control room 80 are provided in the conventional clamping-type rail temperature detecting device. Respectively.

The temperature detector 50 is installed at regular intervals on the rails 40 of the up line and the down line respectively and the positions thereof are stored in the jurisdiction signal machine room 70 and the integrated train command room 80. The temperature information sensed by the temperature sensor 50 installed on the rail 40 is transmitted to the field control panel 60 along the communication line.

The field control panel 60 includes an Ethernet module 61, a PLC (Power Line Communication) 62, an automatic voltage regulator 63, an optical signal converter 64 and an arrestor 65, So that the size of the field control panel 60 is reduced and information of the field control panel 60 is compatible and shared to the jurisdiction signal machine room 70 and the integrated train command room 80.

At this time, the automatic voltage regulator 63 receives the input power of single phase 220V, 60Hz and converts it into power for supplying the PLC 62 and the optical signal converter 64 with stable power, Or bypasses to ground when various surges such as overvoltage and noise occur and protects the components of the field control panel 60 from abnormal voltage.

The PLC 62 controls the overall operation of the field control panel 60 and stores and outputs the state information such as the power input state and the temperature information of the field control panel 60. Particularly, in the input portion of the PLC 62, temperature information of the rail 40 detected by the temperature detector 50 for detecting a minute temperature change of the uphill and downhill rail 40 is received and stored, And the rail temperature requirement information of the integrated train commanding room 80, as shown in FIG.

Converts the Ethernet protocol signal into an optical signal by the optical signal converter 64 and outputs the optical signal to the jurisdiction signal machine room 70 And converts the optical signal into a signal according to the Ethernet protocol to receive the rail temperature request information from the associated signaling machine room 70 and the integrated train commanding room 80, To the communication module 61, and the Ethernet communication module 61 converts the Ethernet protocol signal into a signal form that can be processed by the main control unit and outputs the signal.

When the temperature sensor information transmitted from the temperature sensor compares the rail temperature requirement information with the jurisdiction signal machine room 70 and the integrated train command room 80, the train 90 provides a danger warning and the temperature information is transmitted according to the risk of the alarm Thereby controlling the operation of the train 90 entering the section.

3, the rail temperature detecting apparatus according to the related art includes a clamp 51 fixed to a lower portion of a rail 40 and a rail 51 connected to the clamp 51, And a temperature detector (52) for detecting a temperature of the rail (40) in contact with a bottom portion of the rail (40), the clamp (51) A control member 51a formed of a spiral bar which forms a second latching groove for enclosing one side of the lower part of the first latching member and has a spiral formed on the other side thereof; And a first latching groove formed to support one side of the lower portion of the rail 40 to one side of the upper portion of the body portion, And a fixing body 51b having an insertion hole penetrating through the body and having a bracket rotatably fixing one end of the temperature sensing part 52 above the body part.

The clamp-contact type rail temperature detecting device according to the related art is constituted by a temperature sensing part which is fixedly attached to a rail by each section by a clamp and is installed in connection with the clamp and closely contacts with the rail to detect a temperature change of the rail. The temperature information of the rail detected by the temperature sensor of the temperature sensor is transmitted to each of the field control boards. The transmitted temperature information is converted through various technical steps, and compared with the rail temperature requirement information, And a signaling machine room or the like.

However, in the case of the clamp-attached rail temperature detecting device according to the related art, since the rail temperature is measured by the temperature detector in a state in which it is fixed tightly to the rail for each section by a clamp, only the rail temperature at a specific position is limitedly detected .

As described above, there is a problem in that it is difficult to measure a minute temperature change of the rail in the case of a method of measuring the temperature of the rail in a noncontact manner in real time, which is installed in a running train according to the conventional technique.

In addition, since the rail temperature measuring apparatus according to the related art can measure only the rail temperature at the place where it is attached, there is a problem in that it can not measure the temperature at a desired place or continuously measure the temperature. That is, the currently operated rail temperature measuring device can not only measure the temperature of the specific section with the temperature sensor but also can not predict the temperature without checking the temperature in real time because it does not accumulate and manage the temperature data have.

Korean Patent No. 10-174771 filed on Feb. 17, 1996, entitled "Rail Temperature Detection Device" Korean Registered Patent No. 10-782319 filed on Sep. 12, 2006, entitled "Rail Monitoring Device for Safety Diagnosis of Railway Structures" Korean Patent No. 10-818121 filed on Mar. 2, 2006, entitled "Rail temperature detection device" Korean Unexamined Patent Publication No. 2009-132187 (Published on Dec. 30, 2009), entitled " Korean Public Utility Model No. 2007-974 (Published on Sep. 4, 2007), design name: "Rail temperature radio measurement device"

According to an aspect of the present invention, there is provided a rail temperature sensor, comprising: an autonomous traveling carriage mounted on a first rail, the autonomous traveling carriage traveling on a first rail, The present invention provides a rail temperature measuring system and a railway temperature measuring system using the autonomous traveling bogie, which can continuously measure the rail temperature detector by position.

According to another aspect of the present invention, there is provided a method of controlling rail temperature data, the rail temperature data being managed by a program for continuously managing rail temperature data for each position, so that the rail temperature can be predicted without real- A rail temperature measurement system using railroad cars and a method therefor.

According to an aspect of the present invention, there is provided a system for measuring a rail temperature using an autonomous vehicle, the autonomous vehicle comprising: an autonomous traveling carriage mounted on a first one of the rails, ; A rail temperature detector mounted on the autonomous traveling bogie and measuring a rail temperature of a second rail opposed to the first rail in correspondence with the running of the autonomous traveling bogie; A user terminal for remotely controlling the autonomous traveling bogie by radio and receiving position-specific rail temperature data from the autonomous traveling bogie; And an operator terminal for receiving the rail temperature data for each position and displaying the rail temperature data in a graph, wherein the rail temperature detector detects the temperature of the second rail opposed to the first rail when the autonomous traveling bogie runs autonomously, And automatically performs continuous measurement.

Here, the autonomous traveling bogie may generate the rail temperature data for each position by matching the rail temperature data and the GPS position data measured by the rail temperature sensor.

Herein, the autonomous mobile bogie can automatically travel back and forth to the destination by inputting GPS position information for the destination through the user terminal.

Here, the rail temperature sensor firstly measures the temperature of the second rail opposed to the first rail mounted with the autonomous traveling bogie in a wide range, and then changes the position of the autonomous traveling bogie so that the temperature of the second rail is partially Can be measured precisely.

Here, the rail temperature sensor may be selected to measure only a part of the temperature of the second rail, or to measure the rail temperature as a whole.

Here, the user terminal is a mobile phone having an application for measuring a rail temperature. The mobile terminal controls the self-driving car and the data storage by remotely controlling the autonomous vehicle via the user terminal, Wireless communication can be performed using Bluetooth or Wi-Fi between terminals.

The autonomous traveling bogie further includes a counter for measuring the traveling distance. The autonomous traveling bogie calculates a traveling distance after entering the tunnel at the time of measuring the rail temperature in the tunnel while the autonomous traveling bogie travels inside the tunnel, Can be performed.

Here, the autonomous traveling bogie includes: an autonomous traveling bogie main body disposed on the first rails and autonomously traveling along the first rails; A GPS module mounted in the autonomous traveling bogie main body to generate position information of the autonomous traveling bogie; A management module for controlling the driving of the autonomous traveling bogie main body and generating rail temperature data for each position by matching the position information generated from the GPS module with the rail temperature data measured by the rail temperature sensor; A wireless communication module for transmitting position-specific rail temperature data generated by the management module to the user terminal; And a battery for supplying power to the autonomous traveling bogy main body and the rail temperature detector.

Here, the lighting module may further include a lighting module mounted in the autonomous traveling bogie main body and providing illumination to a front surface of the autonomous bogie main body under the control of the management module.

Here, the management module may include: a bogie driving unit that drives the autonomous traveling bogie main body such that the autonomous bogie runs autonomously; A data collecting unit for collecting the rail temperature data measured by the rail temperature sensor and the position information of the autonomous traveling b / A data matching unit for matching the rail temperature data and the position information collected by the data collecting unit to generate rail temperature data for each position; And a control unit for controlling the bogie driving unit to drive the autonomic traveling bogie main body and controlling the data matching unit to generate rail temperature data for each position.

Here, the autonomous traveling truck main body includes: a front wheel that travels in close contact with an upper front surface of the first rail; A rear wheel that travels in close contact with an upper rear surface of the first rail; A first auxiliary wheel in close contact with both sides of the front surface of the first rail so that the autonomous traveling bogie body does not separate from the first rail; A second auxiliary wheel which is in close contact with the lower both sides of the rear surface of the first rail so that the autonomous traveling bogie body does not separate from the first rail; A main bar vertically installed on both sides of the autonomous traveling truck body and linearly moving downward; A shaft which is fastened to a lower portion of the main bar and to the first and second auxiliary wheels to turn the linear motion of the main bar into rotational motion to closely contact the first and second auxiliary wheels to the first rail; A ratchet gear engaged with the front wheel so that the front wheel can advance only in one direction; And a pawl coupled to the ratchet gear and serving as a detent.

Here, the main bar is lowered when the main bar is depressed by using the ratchet gear, and when the pole is not lifted up, the main bar is maintained in a lowered state, so that the autonomous traveling carriage can be prevented from being separated from the first rail have.

According to another aspect of the present invention, there is provided a method of measuring a rail temperature using an autonomous vehicle, comprising the steps of: a) disposing an autonomous traveling carriage on which a rail temperature sensor is mounted on a first rail; b) mounting the main body of the autonomous vehicle on the first rail; c) remotely controlling the autonomous traveling vehicle by means of a rail temperature measurement app installed in the user terminal; d) continuously measuring an infrared thermal image temperature of the second rail opposed to the first rail while the autonomous traveling carriage is running; e) matching the position information of the GPS module installed on the autonomous vehicle with the rail temperature data measured by the rail temperature sensor; f) wirelessly transmitting the matched location-specific rail temperature data to the user terminal via the wireless communication module; And g) transferring the matched position-specific rail temperature data to the manager terminal and graphically displaying the rail temperature data, wherein the autonomous traveling bogie is mounted on the first rail so as not to depart from the first rail during driving, And the rail temperature sensor automatically and continuously measures the temperature of the second rail, which is opposed to the first rail, in an infrared image when the autonomous traveling bogie runs autonomously.

According to the present invention, an autonomous traveling carriage equipped with a rail temperature sensor is mounted on the first rail, and the temperature of the second rail opposed to the first rail while the autonomous traveling carriage travels is continuously measured .

According to the present invention, the rail temperature can be managed by predicting the rail temperature without real-time measurement of the rail temperature by managing the rail temperature data according to a program for continuously managing the rail temperature data for each position.

According to the present invention, a rail inspection apparatus can be easily operated by an autonomous vehicle and an application.

1 is a view for explaining a conventional rail temperature detecting apparatus.
2 is a view showing a conventional rail temperature radio measurement apparatus.
3 is a view for explaining a clamp-contact type rail temperature detecting apparatus according to a conventional technique.
4 is a view for explaining the principle of rail temperature measurement of a rail temperature measurement system using an autonomous traveling carriage according to an embodiment of the present invention.
5 is a configuration diagram of a rail temperature measurement system using an autonomous traveling carriage according to an embodiment of the present invention.
6 is a view showing an autonomous traveling bogie in a rail temperature measuring system using an autonomous traveling bogie according to an embodiment of the present invention.
7 is a view showing a rail temperature measurement system using an autonomous traveling bogie according to an embodiment of the present invention before and after mounting the autonomous vehicle on a rail.
FIG. 8 is a view showing an autonomous traveling vehicle mounted on a rail in a rail temperature measurement system using an autonomous traveling carriage according to an embodiment of the present invention.
9 is a view showing a ratchet gear of an autonomous traveling bogie in a rail temperature measurement system using an autonomous traveling bogie according to an embodiment of the present invention.
10 is a view illustrating auxiliary wheels and rear wheels formed on an autonomous traveling vehicle in a rail temperature measurement system using an autonomous traveling bogie according to an embodiment of the present invention.
11 is a view showing a snapshot of the running of the autonomous traveling bogie in the rail temperature measuring system using the autonomous traveling bogie according to the embodiment of the present invention.
12 is a flowchart illustrating a method of measuring a rail temperature using an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the term "part" or the like, as described in the specification, means a unit for processing at least one function or operation, and may be implemented by hardware, software, or a combination of hardware and software.

[Rail temperature measurement system using autonomous vehicle]

4 is a view for explaining the principle of rail temperature measurement of a rail temperature measurement system using an autonomous traveling carriage according to an embodiment of the present invention.

The rail temperature measurement system using the autonomous traveling bogie according to the embodiment of the present invention includes an autonomous traveling bogie 200, a rail temperature sensor 300, a user terminal 400, and an administrator terminal 500.

The autonomous traveling bogie 200 is mounted on the first rail 100a of the rail 100 and autonomously traveled. At this time, the autonomous traveling bogie 200 is made as small as possible. In addition, the rail temperature sensor 300 mounted on the autonomous traveling carriage 200 can continuously measure the rail temperature of the opposite rail, not the discrete temperature, by the infrared thermal image measurement method.

In addition, the mobile terminal 200 can be easily remotely operated by a mobile phone, which is a user terminal 400 performing wireless communication with the autonomous mobile carriage 200, and a rail temperature measurement app is implemented on the user terminal 400.

In addition, distance and rail temperature data may be stored in the microprocessor in the autonomous vehicle 200 and then transmitted to the administrator terminal 500 to display a distance-temperature graph.

5 is a configuration diagram of a rail temperature measuring system using an autonomous traveling truck according to an embodiment of the present invention.

5, a rail temperature measurement system using an autonomous traveling bogie according to an embodiment of the present invention includes an autonomous traveling bogie 200, a rail temperature sensor 300, a user terminal 400, and an administrator terminal 500 The autonomous traveling bogie 200 includes an autonomous traveling bogie main body 210, a GPS module 220, a management module 230, a wireless communication module 240, an illumination module 250, and a battery 260 do.

The rail 100 includes a first rail 100a and a second rail 100b. The autonomous traveling carriage 200 is disposed on the first rail 100a. The rail 100 includes a first rail 100a and a second rail 100b. The temperature of the second rail 100b is measured. For example, the train rail has two rows on the right and left, and the autonomous traveling carriage 200 equipped with the rail temperature sensor 300 according to the embodiment of the present invention can measure the temperature of the left rail when traveling to the right .

The autonomous traveling carriage 200 is mounted on the first rail 100a of the rail 100 and autonomously travels to generate rail temperature data for each position. At this time, the autonomous traveling carriage 200 is formed to be able to attach and detach the rail 100. The autonomous traveling bogie 200 generates rail temperature data for each position by mutually matching the rail temperature data and the GPS position data measured by the rail temperature sensor 300, 200 may automatically perform a reciprocating movement to the destination by inputting GPS position information for the destination via the user terminal 400. [

Specifically, the autonomous traveling bogie body 210 of the autonomous traveling bogie 200 is disposed on the first rails 100a and autonomously travels along the first rails 100a.

The GPS module 220 of the autonomous traveling bogie 200 is mounted in the autonomous traveling bogie main body 210 to generate position information of the autonomous traveling bogie 200.

The management module 230 of the autonomous traveling bogie 200 controls the driving of the autonomous traveling bogie main body 210 and the position information generated from the GPS module 220 and the position information generated by the rail temperature sensor 300 The rail temperature data is matched to generate rail temperature data for each position.

The wireless communication module 240 of the autonomous traveling bogie 200 transmits the rail temperature data generated by the management module 230 to the user terminal 400.

The lighting module 250 of the autonomous traveling bogie 200 is mounted in the autonomous traveling bogie main body 210 and provides illumination to the front surface of the autonomy bogie main body 210 under the control of the management module 230 .

The battery 260 of the autonomous traveling bogie 200 supplies power to the autonomous traveling bogie main body 210 and the rail temperature detector 300. That is, it is preferable that the autonomous traveling carriage 200 on which the rail temperature sensor 300 is mounted is made compact in consideration of mobility and portability and is driven by the battery 260.

In addition, the autonomous traveling bogie 200 further includes a counter for measuring the traveling distance. When the autonomous traveling bogie 200 travels inside the tunnel, the traveling distance And data matching according to the rail temperature measurement position can be performed.

5, the rail temperature sensor 300 is mounted on the autonomous traveling bogie 200, and corresponds to the running of the autonomous traveling bogie 200. The second rail 100a, which is opposed to the first rail 100a, (100b) is measured. For example, the rail temperature sensor 300 may automatically measure the temperature of the second rail 100b, which is opposed to the first rail 100a, in an autonomous running mode of the autonomous traveling carriage 200 in an infrared thermal imaging system But is not limited to. The rail temperature sensor 300 may mount the autonomous traveling carriage 200 on the second rail 100b and measure the temperature of the first rail 100a facing the second rail 100b.

More specifically, the rail temperature sensor 300 primarily measures the temperature 100b of the second rail 100b opposite to the first rail 100a on which the autonomous traveling carriage 200 is mounted, The temperature of the second rail 100b can be partially and precisely measured by changing the position of the autonomous traveling carriage 200. [ In addition, the rail temperature sensor 300 may be selected to measure only a part of the temperature of the second rail 100b, or to measure the temperature of the second rail 100b.

The user terminal 400 remotely controls the autonomous traveling bogie 200 by radio and receives the position-specific rail temperature data from the autonomous traveling bogie 200. For example, the user terminal 400 is a mobile phone having a rail temperature measurement app 410 implemented therein. The user terminal 400 remotely controls the autonomous traveling bogie 200 through the user terminal 400, And carries out wireless communication using Bluetooth or WiFi between the autonomous traveling bogie 200 and the user terminal 400.

The manager terminal 500 may receive the rail temperature data for each position and display it in a graph. Accordingly, the manager terminal 500 can manage the rail by predicting the rail temperature without real-time measurement of the rail temperature by managing the rail temperature data according to a program for continuously managing the rail temperature data by position.

Specifically, the autonomous traveling truck main body 210 includes a front wheel 211, a rear wheel 212, a first auxiliary wheel 213, a second auxiliary wheel 214, a main bar 215, a shaft 216, A ratchet gear 217 and a pawl 218, which will be described later with reference to Fig.

The management module 230 may include a control unit 231, a bill driving unit 232, a data collecting unit 233, and a data matching unit 234.

The bogie driving part 232 of the management module 230 drives the autonomous traveling bogie main body 210 so that the autonomous traveling bogie 200 autonomously runs.

The data collecting unit 233 of the management module 230 collects the rail temperature data measured by the rail temperature sensor 300 and the position information of the autonomous traveling carriage 200 generated by the GPS module 220.

The data matching unit 234 of the management module 230 generates the rail temperature data for each position by matching the rail temperature data and the position information collected by the data collecting unit 233.

The control unit 231 of the management module 230 controls the bogie driving unit 232 to drive the autonomous traveling bogie main body 210 and controls the data matching unit 234 to generate the rail temperature data do.

In addition, the autonomous vehicle 200 can provide illumination at night, for example, by providing an illumination module 250 on the front side, and can be used as illumination for, for example, dawn time or tunnel measurement.

The autonomous traveling bogie 200 may further include a counter for measuring the traveling distance. For example, when the autonomous traveling bogie 200 travels inside the tunnel, the autonomous traveling bogie 200 receives a GPS signal Therefore, by adding a counter function to the wheels of the autonomous vehicle 200, it is possible to perform the data matching according to the rail temperature measurement position by calculating the travel distance after entering the tunnel.

Meanwhile, the autonomous traveling bogie main body 210 according to the embodiment of the present invention must run on the rail 100 with one motor (not shown) and one rear wheel 212. In addition, it is required to be mounted in the autonomous traveling bogie body 210 without being exposed to the outside, and it is required to be mounted .

In the case of the autonomous traveling carriage 200 equipped with the rail temperature sensor 300 according to the embodiment of the present invention, it is possible to continuously and continuously travel the vehicle at a speed of 1 to 1.5 m / s, A distance-temperature graph can be obtained.

Particularly, it is easy to drive by using only one of the rails, and is easy to operate, and the temperature can be measured continuously by pressing the start button of the user terminal 400. Corresponding to the running of the autonomous traveling carriage 200 The autonomous traveling carriage 200 can be easily detached and attached to the rail 100 and can be conveniently stored after measuring the rail temperature at a desired location. have.

6 is a view showing an autonomous traveling bogie in a rail temperature measuring system using an autonomous traveling bogie according to an embodiment of the present invention.

6, in the rail temperature measuring system using the autonomous traveling truck according to the embodiment of the present invention, the autonomous traveling truck main body 210 includes a front wheel 211, a rear wheel 212, a first auxiliary wheel 213 A second auxiliary wheel 214, a main bar 215, a shaft 216, a ratchet gear 217, and a pawl 218.

The front wheel 211 is in close contact with the upper surface of the first rail 100a while the rear wheel 212 is in close contact with the upper rear surface of the first rail 100a.

The first auxiliary wheel 213 is in close contact with both sides of the front surface of the first rail 100a so that the autonomous traveling bogie body 210 does not separate from the first rail 100a, Are in close contact with the lower portions of both sides of the rear surface of the first rail 100a so that the autonomous traveling bogie body 210 does not separate from the first rail 100a.

The main bar 215 is vertically installed on both sides of the autonomous traveling truck body 210 and linearly moves downward. The shaft 216 is connected to the lower portion of the main bar 215 and the first and second sub- And the first and second auxiliary wheels 213 and 213 are tightly coupled to the first and second rails 100a and 200b, respectively.

The ratchet gear 217 is fastened to the front wheel 211 so that the front wheel 211 can advance only in one direction and the pawl 218 is fastened to the ratchet gear 217 to serve as a detent.

Accordingly, when the main bar 215 is depressed by the ratchet gear 217, the main bar 215 is lowered, and when the pawl 218 is not lifted up, the main bar 215 is maintained in a lowered state, It is possible to prevent the first rail 100a from being separated from the first rail 100a during traveling.

Meanwhile, FIG. 7 is a view showing a rail temperature measurement system using an autonomous traveling bogie according to an embodiment of the present invention, before and after mounting the autonomous vehicle on a rail.

In the rail temperature measurement system using the autonomous traveling bogie according to the embodiment of the present invention, the autonomous traveling bogie 200 includes six wheels, a front wheel 211 , The rear wheel 212, the two first auxiliary wheels 213, and the two second auxiliary wheels 214. However, as shown in FIG. 7B, only two main bar 215 presses Can be installed on the rail 100 alone.

That is, as shown in FIG. 7 (b), when the main bars 215, which longitudinally slide on both sides, are pushed downward, six wheels are closely contacted by the rails 100 by the ratchet gears 217 . At this time, by holding the jaw of the head of the rail 100, the front wheels and the rear wheels on the rails can have a sufficient grounding force. In addition, since the side of the rail head is held by the first and second auxiliary wheels 213 and 214, it is possible to prevent the autonomous traveling carriage 200 from swaying from side to side.

FIG. 8 is a diagram illustrating an autonomous traveling bogie mounted on a rail in a rail temperature measurement system using an autonomous traveling bogie according to an embodiment of the present invention. Fig. 7 is a view showing a ratchet gear of an autonomous traveling bogie in a rail temperature measurement system. Fig.

8, when the both side main bars 215 are respectively pushed downward, the linear motion of the main bar 215 is transmitted to the shaft 216 to be changed into rotational motion, and through this force, The wheel 213 catches the head side surface and the jaw portion of the rail 100. Therefore, the autonomous traveling carriage 200 can be easily installed on the rail 100 with two operations of pressing the main bars 215 on both sides. Here, as shown in Fig. 9, the ratchet gear 217 is a gear that can move only in one direction and can move only when the pawl 218 is lifted when moving in the other direction.

For example, when the main bar 215 is pushed by the ratchet gear 217, the main bar 215 is easily lowered, but if the user does not lift the pawl 218, The autonomous traveling carriage 200 can be driven on the rail 100 without shaking without applying any additional force after the rail 200 is mounted on the rail 100. In order to detach the autonomous traveling carriage 200 from the rail 100, the autonomous traveling carriage 200 may be detached according to the elasticity of the springs when the pillar 218 is raised.

10 is a view illustrating auxiliary wheels and rear wheels formed on an autonomous traveling bogie in a rail temperature measurement system using an autonomous traveling bogie according to an embodiment of the present invention.

10 (a), in the rail temperature measurement system using the autonomous traveling bogie according to the embodiment of the present invention, the autonomous traveling bogie 200 is provided with a bolt and a nut . ≪ / RTI > For example, the bolts were divided in half to form half female threads and the other half to be male threads, and both wheel holders were made to correspond to this. As a result, the two wheel holders are tightened by turning the bolts in one direction, whereby the main body 210 of the autonomous traveling bogie 200 is firmly and stably mounted on the rail 100 through the bolt-nut connection .

10 (b), in the rail temperature measurement system using the autonomous traveling bogie according to the embodiment of the present invention, the autonomous traveling bogie main body 210 attaches the two rear wheels 212 as a single wheel It is possible to prevent the balance from being lost during traveling.

Meanwhile, FIG. 11 is a snapshot showing the running of the autonomous traveling bogie in the rail temperature measuring system using the autonomous traveling bogie according to the embodiment of the present invention.

11, in the rail temperature measuring system using the autonomous traveling bogie according to the embodiment of the present invention, the autonomous traveling bogie 200 is disposed on the rail 100 and travels on the upper part of the rails 100, It is possible to collect the rail temperature data by performing Bluetooth communication with the rail temperature measurement application on the user terminal 400. Thereafter, it is possible to collect the rail temperature data according to the analysis application on the administrator terminal 500 It is possible to graph the rail temperature data by position.

According to the rail temperature measurement system using the autonomous traveling bogie according to the embodiment of the present invention, the field maintenance worker can easily operate using the application of the user terminal, continuously measures the temperature at a desired interval, By displaying the distance and the temperature from the measurement start position in a graph, it is possible to efficiently manage the rail.

[Rail temperature measurement method using autonomous vehicle]

12 is a flowchart illustrating a method of measuring a rail temperature using an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 12, in the rail temperature measuring method using the autonomous traveling carriage according to the embodiment of the present invention, first, the autonomous traveling carriage 200 on which the rail temperature sensor 300 is mounted is mounted on the first rail 100a (S110).

Next, the main body 210 of the autonomous traveling bogie 200 is mounted on the first rail 100a so as not to be separated from the first rail 100a when traveling (S120).

Next, the autonomous traveling carriage 200 is remotely controlled to be operated through the rail temperature measurement app 410 installed in the user terminal 400 (S130). When the GPS position information for the destination is input through the user terminal 400, the autonomous traveling carriage 200 autonomously travels back and forth automatically to the destination, and the rail temperature data 300 measured by the rail temperature sensor 300 And the GPS position data are matched with each other, thereby generating rail temperature data for each position.

Next, the rail temperature sensor 300 continuously measures the infrared image temperature of the second rail 100b opposed to the first rail 100a while the autonomous traveling carriage 200 is traveling (S140) . At this time, the rail temperature sensor 300 primarily measures the temperature 100b of the second rail 100b opposite to the first rail 100a on which the autonomous traveling carriage 200 is mounted, The temperature of the second rail 100b is partially and precisely measured by changing the position of the autonomous traveling carriage 200. The rail temperature sensor 300 specifies a rail temperature measurement range to measure only a part of the rail temperature measurement You can choose to choose, or to measure it as a whole. In addition, the autonomous traveling bogie 200 further includes a counter for measuring the traveling distance. When the autonomous traveling bogie 200 travels inside the tunnel, the traveling distance And data matching according to the rail temperature measurement position can be performed.

Next, the position information of the GPS module 220 mounted on the autonomous traveling bogie 200 is matched with the rail temperature data measured by the rail temperature sensor 300 (S150).

Next, the matched position-specific rail temperature data is wirelessly transmitted to the user terminal 400 through the wireless communication module 240 (S160). The user terminal 400 is a mobile phone having the rail temperature measurement app 410 implemented therein so that the user terminal 400 can remotely control the autonomous traveling bogie 200 through the user terminal 400, And carries out wireless communication using Bluetooth or WiFi between the autonomous mobile bogie 200 and the user terminal 400.

Next, the matched position-specific rail temperature data is transmitted to the administrator terminal 500, for example, a PC and displayed in a graph (S170).

The autonomous traveling bogie 200 is mounted on the first rail 100a so as not to be separated from the first rail 100a during driving and the rail temperature detector 300 detects the autonomous traveling bogie 200 The temperature of the second rail 100b opposed to the first rail 100a can be automatically and continuously measured in an infrared image.

As a result, according to the embodiment of the present invention, the autonomous traveling carriage on which the rail temperature sensor is mounted is mounted on the first rail, and the temperature of the second rail opposed to the first rail is detected by the rail temperature sensor And the rail temperature can be managed by predicting the rail temperature without real-time measurement of the rail temperature by managing the rail temperature data according to a program for continuously managing the rail temperature data for each position. In addition, the railbreaker can be easily operated by autonomous bogies and applications.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Rail
100a: first rail
100b: second rail (opposing rail)
200: Self-driving car
300: Rail temperature probe
400: User terminal (cellular phone)
500: Administrator terminal (PC)
210: an autonomous bogie body
220: GPS module
230: Management module
240: Wireless communication module
250: Lighting module
260: Battery
211: front wheel
212: rear wheel
213: First auxiliary wheel
214: second auxiliary wheel
215: Main Bar
216: Shaft
217: Ratchet Gear
218: Pawl
231:
232:
233: Data collecting unit
234: Data matching unit

Claims (17)

An autonomous traveling carriage (200) mounted on the first rail (100a) of the rail (100) to autonomously travel and generating rail temperature data per position;
A rail temperature sensor 300 mounted on the autonomous traveling carriage 200 for measuring a rail temperature of a second rail 100b opposed to the first rail 100a in response to traveling of the autonomous traveling carriage 200; );
A user terminal 400 for remotely controlling the autonomous traveling carriage 200 by radio and receiving position-specific rail temperature data from the autonomous traveling carriage 200; And
And an administrator terminal (500) for receiving and displaying the rail temperature data by the position,
The rail temperature sensor 300 automatically measures the temperature of the second rail 100b, which is opposed to the first rail 100a, during an autonomous travel of the autonomous traveling carriage 200 by an infrared thermal imaging system Rail temperature measurement system using autonomous vehicle. The method according to claim 1,
Wherein the autonomous traveling bogie (200) generates rail temperature data for each position by mutually matching the rail temperature data and the GPS position data measured by the rail temperature sensor (300) Temperature measurement system. 3. The method of claim 2,
Wherein the autonomous traveling bogie (200) automatically travels to the destination when the GPS position information for the destination is input through the user terminal (400). The method according to claim 1,
The rail temperature sensor 300 firstly measures the temperature 100b of the second rail 100b opposite to the first rail 100a on which the autonomous traveling carriage 200 is mounted in a wide range, And the temperature of the second rail (100b) is partially and precisely measured by changing the position of the bogie (200). The method according to claim 1,
The rail temperature sensor 300 can be selected to measure only a part of the temperature of the second rail 100b when the rail temperature measurement range is designated and to measure the temperature of the second rail 100b. Measuring system. The method according to claim 1,
The user terminal 400 is a mobile phone implemented with the rail temperature measurement app 410. The user terminal 400 remotely controls the autonomous traveling bogie 200 through the user terminal 400, And carries out wireless communication using Bluetooth or WiFi between the autonomous traveling bogie (200) and the user terminal (400). The method according to claim 1,
The autonomous traveling bogie 200 further includes a counter for measuring the moving distance and calculates the traveling distance after entering the tunnel when measuring the rail temperature in the tunnel while the autonomous traveling bogie 200 travels inside the tunnel And the data matching is performed according to the rail temperature measurement position. 2. The automatic transmission according to claim 1, wherein the autonomous traveling bogie (200)
An autonomous traveling truck main body 210 disposed on the first rail 100a and self-traveling along the first rail 100a;
A GPS module (220) mounted in the autonomous traveling bogie main body (210) and generating position information of the autonomous traveling bogie (200);
And controls the driving of the autonomous traveling bogie main body 210 to generate rail temperature data for each position by matching the position information generated from the GPS module 220 and the rail temperature data measured by the rail temperature sensor 300 Management module 230;
A wireless communication module 240 for transmitting the position-specific rail temperature data generated by the management module 230 to the user terminal 400; And
And a battery (260) for supplying power to the autonomous traveling bogie main body (210) and the rail temperature detector (300). 9. The method of claim 8,
And an illumination module (250) mounted in the autonomous traveling bogie main body (210) for providing illumination to a front surface of the autonomous bogie main body (210) under the control of the management module (230) Rail temperature measurement system used. The method of claim 8, wherein the management module (230)
A bogie driving part 232 for driving the autonomous traveling bogie main body 210 such that the autonomous traveling bogie 200 autonomously runs;
A data collecting unit 233 for collecting the rail temperature data measured by the rail temperature sensor 300 and the position information of the autonomous traveling carriage 200 generated by the GPS module 220;
A data matching unit 234 for matching the rail temperature data and the position information collected by the data collecting unit 233 to generate rail temperature data for each position; And
And a control unit 231 for controlling the bogie driving unit 232 to drive the autonomous traveling bogie main body 210 and controlling the data matching unit 234 to generate rail temperature data for each position, Rail temperature measurement system used. The automatic traveling truck according to claim 8, wherein the autonomous traveling truck body (210)
A front wheel 211 running in close contact with an upper front surface of the first rail 100a;
A rear wheel 212 running in close contact with the upper rear surface of the first rail 100a;
A first auxiliary wheel 213 which is in close contact with both front sides of the first rail 100a so that the autonomous traveling bogie body 210 does not separate from the first rail 100a;
A second auxiliary wheel 214 which is in close contact with the lower both sides of the rear surface of the first rail 100a so that the autonomous traveling bogie body 210 does not separate from the first rail 100a;
A main bar 215 installed on both sides of the autonomous traveling truck body 210 and linearly moving downward;
The first and second auxiliary wheels 213 are coupled to the lower portion of the main bar 215 and the first and second auxiliary wheels 213 to convert linear motion of the main bar 215 into rotational motion, A shaft 216 which closely contacts the first rail 100a;
A ratchet gear (217) fastened to the front wheel (211) so that the front wheel (211) can advance only in one direction; And
And a pawl (218) coupled to the ratchet gear (217) and serving as a detent. 12. The method of claim 11,
The main bar 215 is lowered when the main bar 215 is pushed by the ratchet gear 217 and is held down when the pawl 218 is not lifted up so that the autonomous traveling bogie 200 is in operation To prevent the first rail (100a) from being separated from the first rail (100a). a) disposing an autonomous traveling carriage (200) on which a rail temperature sensor (300) is mounted on a first rail (100a);
b) mounting the main body (210) of the autonomous traveling bogie (200) to the first rail (100a);
c) remotely controlling the autonomous traveling carriage 200 through the rail temperature measurement app 410 installed in the user terminal 400;
d) continuously measuring an infrared thermal image temperature of the second rail (100b) opposed to the first rail (100a) while the autonomy traveling carriage (200) runs, by the rail temperature sensor (300);
e) matching the position information of the GPS module (220) installed on the autonomous traveling carriage (200) with the rail temperature data measured by the rail temperature sensor (300);
f) wirelessly transmitting the matched location-specific rail temperature data to the user terminal (400) via the wireless communication module (240); And
g) transmitting the matched position-specific rail temperature data to the manager terminal 500 and graphically displaying the same;
The autonomous traveling bogie 200 is mounted on the first rail 100a so as not to be separated from the first rail 100a during driving and the rail temperature detector 300 detects the autonomous traveling bogie 200 Wherein the temperature of the second rail (100b) opposed to the first rail (100a) is automatically and continuously measured in an infrared image during traveling. 14. The method of claim 13,
The user terminal 400 of the step f) is a mobile phone on which the rail temperature measurement app 410 is implemented. The user terminal 400 remotely controls the autonomous traveling bogie 200 through the user terminal 400, And carries out wireless communication using Bluetooth or WiFi between the autonomous traveling bogie (200) and the user terminal (400). The autonomous traveling bogie according to claim 1, How to measure. 14. The method of claim 13,
The autonomous traveling bogie 200 in the step c) autonomously travels back and forth automatically to the destination when the GPS position information about the destination is input through the user terminal 400, and the rail temperature sensor 300 And the temperature data and the GPS position data are mutually matched to generate rail temperature data for each position. 14. The method of claim 13,
The autonomous traveling bogie 200 further includes a counter for measuring the moving distance and calculates the traveling distance after entering the tunnel when measuring the rail temperature in the tunnel while the autonomous traveling bogie 200 travels inside the tunnel And the data matching is performed according to the rail temperature measurement position. 14. The method of claim 13,
The rail temperature sensor 300 firstly measures the temperature 100b of the second rail 100b opposite to the first rail 100a on which the autonomous traveling carriage 200 is mounted in a wide range, By locating the bogie 200, the rail temperature sensor 300 partially measures the temperature of the second rail 100b precisely, and by specifying the rail temperature measurement range, it can select to measure only a portion of the rail temperature , And can be selected to measure the rail temperature as a whole.

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